CentralCamera.epidist

static CentralCamera.epidist(F: ndarray, p1: ndarray, p2: ndarray) → ndarray

Epipolar distance

Parameters:

• F (ndarray(3,3)) – fundamental matrix

• p1 (ndarray(2) or ndarray(2,N)) – image plane point or points from first camera

• p2 (ndarray(2) or ndarray(2,M)) – image plane point or points from second camera

Returns:

distance matrix

Return type:

ndarray(N,M)

Computes the distance of the points p2 from the epipolar lines induced by points p1. Element [i,j] of the return value is the distance of point j in camera 2 from the epipolar line induced by point i in camera 1.